Stand Up, NAO! Increasing the Reliability of Stand-Up Motions Through Error Compensation in Position Control

Stand-up motions are an indispensable part of humanoid robot soccer. A robot incapable of standing up by itself is removed from the game for some time. In this paper, we present our stand-up motions for the NAO robot. Our approach dates back to 2019 and has been evaluated and slightly expanded over the past six years. We claim that the main reason for failed stand-up attempts are large errors in the executed joint positions. By addressing such problems by either executing special motions to free up stuck limbs such as the arms, or by compensating large errors with other joints, we significantly increased the overall success rate of our stand-up routine. The motions presented in this paper are also used by several other teams in the Standard Platform League, which thereby achieve similar success rates, as shown in an analysis of videos from multiple tournaments.